KR100221598B1 - Automatic driving control device and its method of hydraulic type construction mechanism - Google Patents

Abstract

It is applied to hydraulic construction machines equipped with traveling devices as in wheel type excavators, and it is possible to provide convenience to the driver by automatically controlling the driving state of the machine even when the driving pedal is not directly operated by the driver. It is.

According to a preferred embodiment, there is provided an engine, a first hydraulic pump and a second hydraulic pump driven by the engine, a traveling motor connected to and driven by the first hydraulic pump, and between the first hydraulic pump and the traveling motor. The main control valve is installed between the second hydraulic pump and the main control valve to control the amount, flow direction, and flow direction of the hydraulic oil supplied to the traveling motor. It is installed between the forward and backward solenoid valve which is switched according to the electrical signal applied from the lever selection switch means and controls the switching direction of the main control valve, and between the second hydraulic pump and the forward and backward solenoid valve to control the forward and backward solenoid valve pressure. In an automatic traveling control device for a hydraulic construction machine including a remote control valve for adjusting, the automatic traveling device by the driver Means for selecting whether or not to perform, and the switching between the second hydraulic pump and the remote control valve when a predetermined electrical signal is applied, the signal pressure discharged from the second hydraulic pump and the front and rear solenoid valve A pilot solenoid valve for selectively supplying to the control valve, a brake valve installed in the discharge flow path of the second hydraulic pump and controlling the signal pressure supplied to the brake device, and detecting the operation of the brake pedal thereof; And a controller for applying a predetermined electrical signal to the pilot solenoid valve according to a detection signal inputted from a means for selecting whether to perform the automatic driving function and a means for detecting the operation of the brake pedal. It provides an automatic traveling control device for construction machinery.

As a result, in a hydraulic construction machine equipped with a traveling device such as a wheel type excavator, the driving state of the machine can be automatically controlled even if the driving pedal is not directly operated by the driver. For example, if the driving operation of the equipment is mishandled due to inadvertent operation by the driver, the driver may detect the misoperation and prevent the driving of the equipment against the driver's intention to improve the safety of the equipment.

Description

Automatic traveling control device of hydraulic construction machine and its control method

The present invention relates to an automatic traveling control device for a hydraulic construction machine and a control method thereof. More particularly, the present invention is applied to a hydraulic construction machine equipped with a traveling device, such as a wheel type excavator, and does not directly operate a traveling pedal by a driver. The present invention relates to an automatic driving control device for a hydraulic construction machine and a control method thereof, which can automatically control a driving state of a machine so as to provide convenience to a driver.

As shown schematically in FIG. 1, an automatic traveling control apparatus for a hydraulic construction machine according to the prior art includes an engine 1, a first hydraulic pump 3 driven by the engine 1, and a pilot signal pressure. Between the second hydraulic pump (5) for generating a, the driving motor (11) connected to the first hydraulic pump (3) for driving and between the aforementioned first hydraulic pump (3) and the traveling motor (11) And a main control valve (MCV) 10 installed to control the amount, flow direction of the hydraulic oil supplied to the above-described traveling motor 11 to control the starting, stopping and redirection of the above-described traveling motor 11. It is installed between the forward lever select switch means 6 and the aforementioned second hydraulic pump 5 and the main control valve 10 and is switched in accordance with the electrical signal applied from the forward and reverse lever select switch means 6 described above. Forward and backward solenoid valve 7 for controlling the switching direction of the above-mentioned main control valve 10, and the above-mentioned second hydraulic pressure Further included is a loop 5 and the forward-reverse solenoid valve 7, a solenoid valve 7, a remote control valve (RCV) to control the pressure by forward and backward is provided between the above-described (9).

Reference numeral 8 is a driving pedal, 13 is a brake valve for controlling the pilot signal pressure supplied to the brake device not shown due to the pressure of the brake pedal 12 when the running equipment is stopped.

When driving the wheel-type heavy equipment configured as described above, the driver selects the forward or backward of the machine due to the operation of the forward and backward lever selection switch means 6, and accordingly the electrical signal is the forward and backward solenoid. It is applied to the valve 7 to switch it in the left or right direction on the drawing. In addition, the secondary pressure passing through the remote control valve 9 is proportionally generated in proportion to the operation amount of the driving pedal 8 described above. Thus, the main control valve described above is changed according to the above-described switching of the remote control valve 9. The switching direction of (10) is determined.

Therefore, the main control valve 10 controls the hydraulic fluid discharged from the above-described first hydraulic pump 3 in proportion to the pressure of the above-described remote control valve 9, the equipment is to move forward or backward.

And, when the equipment is stopped while driving, as the driver operates the above-described brake pedal 12, the internal spool of the brake valve 13 thereof is switched downward to open in the drawing, and thus, the above-mentioned second The pilot signal pressure discharged from the hydraulic pump 5 is supplied to the brake device not shown via the above-described brake valve 13 to stop the equipment.

However, as described above, when the equipment is moved to an adjacent workplace in a low speed driving state, or when moving a long distance including a city driving, the driver runs under the condition that the driving pedal 8 is continuously pressurized at the maximum pressure at all times. As the driver continues, the driver is uncomfortable, and the fatigue of the driver is increased.

Accordingly, an object of the present invention is to provide the driver with a hydraulic construction machine equipped with a traveling device, such as a wheel type excavator, to automatically control the driving state of the equipment even when the driving pedal is not directly operated by the driver. It is to provide an automatic running control device and a control method of a hydraulic construction machine to provide convenience.

Another object of the present invention is to detect the misoperation of the driving operation of the equipment due to the carelessness of the driver to prevent the running of the equipment against the driver's intention to improve the safety of the equipment for automatic driving of the hydraulic construction machine It is to provide a control device and a control method thereof.

1 is a hydraulic circuit diagram of a traveling control apparatus of a hydraulic construction machine according to the prior art.

2 is a hydraulic circuit diagram of an automatic traveling control device for a hydraulic construction machine according to an embodiment of the present invention.

3 is a flowchart applied to the automatic driving control method of the hydraulic dry machine according to the embodiment of the present invention.

* Explanation of symbols for main parts of the drawings

1: engine 3: first hydraulic pump

5: second hydraulic pump 6: forward and backward lever selection switch means

7: forward and backward solenoid valve 8: running pedal

9: remote control valve 10: main control valve

11: driving motor 12: brake pedal

13 brake valve 15 automatic driving function selection means

16: pilot solenoid valve 17: brake operation detection means

18: travel pedal operation detection means 19: forward and backward lever operation state detection means

An object of the present invention described above is an engine, a first hydraulic pump and a second hydraulic pump driven by the engine, a traveling motor connected to and driven by the first hydraulic pump, the first hydraulic pump and a traveling motor. It is installed between the main control valve for controlling the amount of flow, the flow direction of the operating oil supplied to the traveling motor, and is installed between the second hydraulic pump and the main control valve for controlling the start, stop and direction of the driving motor A forward and backward solenoid valve, which is switched according to an electrical signal applied from the forward and backward lever selection switch means, is installed between the second hydraulic pump and the forward and backward solenoid valve to control the switching direction of the main control valve. In the automatic driving control device of a hydraulic construction machine including a remote control valve for regulating pressure, the automatic driving function by the driver Means for selecting whether or not to perform, and the switching between the second hydraulic pump and the remote control valve when a predetermined electrical signal is applied, the signal pressure discharged from the second hydraulic pump and the front and rear solenoid valve A pilot solenoid valve for selectively supplying to the control valve, a brake valve installed in the discharge flow path of the second hydraulic pump and controlling the signal pressure supplied to the brake device, and detecting the operation of the brake pedal thereof; And a controller for applying a predetermined electrical signal to the pilot solenoid valve according to a detection signal inputted from a means for selecting whether to perform the automatic driving function and a means for detecting the operation of the brake pedal. By providing automatic driving control of construction machinery It is sex.

Preferably, when the autonomous driving function is not activated, the controller selects the autonomous driving function by the detection signal from the autonomous driving function selecting means, and operates the braking device by the detection signal from the brake operation detecting means. Instead, when the equipment is set to the driving state by the detection signal from the forward and backward lever switch means, a predetermined electric signal is applied to the pilot solenoid valve to automatically drive the equipment.

Preferably, when the autonomous driving function is activated, the controller deselects the autonomous driving function by the detection signal from the autonomous driving function selecting means, and the braking device is activated by the detection signal from the brake operation detecting means. The electronic signal is operated by the detection signal from the forward / backward lever switch means to block the electrical signal applied to the pilot solenoid valve to release the automatic driving state of the equipment.

Preferably, a signal is formed on the remote control valve and inputs a signal to detect the presence or absence of a driving pedal operation to the controller. When the automatic driving function is selected and the brake pedal is not operated, the controller transmits a signal to the pilot solenoid valve. According to the application of the electrical signal, the driving pedal operation detection means for preventing the automatic running of the equipment is further provided when the driver incorrectly operating the automatic driving function selection means without operating the brake pedal.

Preferably, the forward and reverse lever selection switch is formed, the signal for detecting the operation state of the forward and backward lever selection switch is input to the controller, the automatic driving function is selected and the operation state of the forward and backward lever is forward or When the controller applies an electrical signal to the pilot solenoid valve in the reverse state, the driver automatically operates the equipment when the automatic driving function selection means is misoperated without operating the driving pedal of the remote control valve. And a forward / backward lever operating state detection means for preventing the possibility of failure.

Preferably, the travel pedal operation detection means and the forward and backward lever operation state detection means may be selected or used alone or in combination.

An object of the present invention as described above, in the automatic running control method of a hydraulic construction machine, initially setting the output condition of the controller to block the electrical signal applied to the pilot solenoid valve so that the automatic running function does not operate at the start of the equipment A first step and a second step of determining whether to perform the automatic travel function according to the detection signals of the automatic travel function selection means, the brake operation detection means, the travel pedal operation state detection means and the forward and backward lever operation state detection means; The current automatic driving function is being performed in two stages, the automatic driving function selection means are not operated by the driver, the brake pedal is not operated, and the forward and reverse lever switch is set to the forward or reverse position. The automatic driving function is maintained continuously, and the third step of repeating the second step and the second step The current automatic driving function is not being performed, the automatic driving function is selected by the driver, and the automatic driving function is performed when the forward and backward lever switch is set to the forward or backward position without operating the brake pedal. In the fourth step of repeating the second step and the third and fourth steps, the automatic driving function is continuously maintained or the automatic driving function is released while the automatic driving function is being performed. And, it is achieved by providing an automatic running control method of a hydraulic construction machine comprising a fifth step of performing the second step repeatedly.

Preferably, in the fifth step, when the driver operates the brake pedal in a state where the automatic driving function is not currently performed by the fourth step, when the forward and backward lever switch is set to the neutral position, the driving pedal The first step of operating the automatic driving function selection means in the state of not operating the operation, and the operation of the automatic driving function selection means, the operation of the brake pedal, And setting a forward and backward lever switch to a neutral position.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings, which are not intended to limit the technical scope of the present invention.

2 is a hydraulic circuit diagram of an automatic traveling control apparatus for a hydraulic construction machine according to an embodiment of the present invention, Figure 3 is a flow chart applied to the automatic driving control method of a hydraulic construction machine according to the embodiment of the present invention.

As shown in Figs. 2 and 3, the engine 1, the first hydraulic pump 3 and the second hydraulic pump 5 driven by the engine 1, and the first hydraulic pump described above ( 3) the driving motor 11 connected and driven between the driving motor 11, the first hydraulic pump 3 and the driving motor 11, and the amount of the hydraulic oil supplied to the driving motor 11 and the flow direction. The main control valve 10 for controlling the start, stop and direction change of the above-described traveling motor 11, the forward and backward lever selection switch means 6, the above-mentioned second hydraulic pump 5 and the main control A solenoid valve 7 installed between the valves 10 and switched according to the electrical signals applied from the aforementioned forward and backward lever selection switch means 6 to control the switching direction of the aforementioned main control valve 10; A remote control valve installed between the second hydraulic pump 5 and the solenoid valve 7 to adjust the pressure of the solenoid valve 7 described above. Since the structure having the structure (9) is the same as that shown in FIG. 1, detailed description thereof will be omitted, and overlapping reference numerals are the same.

Therefore, according to a preferred embodiment of the present invention, the above-described second hydraulic pressure between the second hydraulic pump 5 and the remote control valve 9 and the means 15 for selecting whether to perform the automatic driving function by the driver. The pilot solenoid valve 16 which controls the signal pressure discharged from the hydraulic pump 5 to be selectively supplied to the above-described remote control valve 9 and the forward and backward solenoid valve 7 is installed so as to be switched when a predetermined electrical signal is applied. Means 17 for detecting the operation of the brake pedal 12 of the brake valve 13 for controlling the signal pressure supplied to the predetermined braking device to the discharge passage of the second hydraulic pump 5 are provided. According to the detection signal inputted from the means 15 for selecting whether to perform the above-described autonomous driving function and the means 17 for detecting the operation of the brake pedal, a predetermined electrical power is applied to the aforementioned pilot solenoid valve 16. God Controller 14 that the application is connected, respectively.

The above-mentioned remote control valve 9 inputs a signal for detecting the presence or absence of operation of the traveling pedal 8 to the controller 14 described above, and thus the automatic driving function is selected, and the brake pedal 12 described above is operated. If the above-described controller 14 applies an electrical signal to the aforementioned pilot solenoid valve 16, the above-described automatic driving function selection means 15 without operating the brake pedal 12 by the driver. In the case of misoperation, a driving pedal operation detecting means 18 is installed to automatically prevent running of the equipment against the driver's intention.

The above-mentioned forward and backward lever selection switch 6 inputs a signal for detecting its operation state to the above-described controller 14, whereby the automatic travel function is selected, and the above-mentioned forward and backward lever operation state is forward or backward. In the case of the state, the controller 14 applies the electrical signal to the aforementioned pilot solenoid valve 16, so that the driver does not operate the traveling pedal 8 of the aforementioned remote control valve 9 by the driver. In the case of misoperation of the automatic travel function selecting means 15, forward and backward lever operating state detection means 19 is installed, which prevents the equipment from running automatically against the driver's intention.

At this time, the above-described driving pedal operation detecting means 18 and the forward and backward lever operating state detecting means 19 may be selected alone or in combination.

Referring to the operation of the present invention configured as described above, the predetermined signal detected from the above-described automatic driving function selection means 15 and the brake operation presence detection means 17 is input to the controller 14 described above, thereby When the automatic running function is selected by one controller 4 and there is no brake operation, a predetermined electrical signal is applied to the valve spring 16a opposite side of the pilot solenoid valve 16 described above, so that the internal spool is leftward on the drawing. Switch to.

That is, when the driver operates the above-described automatic driving function selecting means 15 in a state where there is no brake operation by the driver, the controller 14 outputs an electrical signal from the controller 14 to the pilot solenoid valve 16 described above. The pilot pressure discharged from the above-described second hydraulic pump 5 is supplied to the above-mentioned forward and backward solenoid valve 7 via the above-described pilot solenoid valve 16 which is switched. Therefore, even when the driver does not directly operate the driving pedal 8 described above, the equipment is automatically driven when the forward and backward lever switch means 6 is selected as the forward or backward position.

And, when the driver wants to stop the equipment during the automatic driving of the equipment, when the above-described automatic driving function selecting means 15 and the brake pedal 12 is operated, the above-described automatic driving function selecting means 15 has brake operation or not. According to the detection signal from the detection means 17, a predetermined electrical signal is applied by the controller 14 described above to the opposing spring 16a side of the pilot solenoid valve 16 described above. As a result, the pilot pressure discharged from the above-described second hydraulic pump 5 is transmitted to the above-described remote control valve 9 by the above-described pilot solenoid valve 16 and supplied to the above-mentioned forward and backward solenoid valve 7. Is blocked. Therefore, the equipment can be stopped even when there is no operation of the separate driving pedal 8 by the driver.

On the other hand, when the driver misoperates the above-described autonomous driving function selecting means 15 in a state where there is no brake operation, the controller 14 determines that the autonomous driving function is selected and the pilot solenoid valve 16 described above. As a result of driving the driver, the driver may drive when the driver sets the aforementioned forward lever switch means 6 to the forward or backward position without the above-described driving pedal 8. At this time, it is possible to prevent the running of the equipment automatically against the intention of the driver by the above-mentioned forward and backward lever operating state detection means 19.

That is, the above-described controller 14 receives the detection signals from the above-described autonomous driving function selecting means 15, the brake operating state detecting means 17 and the forward and backward operating state detecting means 19 to select the autonomous running function. The above-described pilot solenoid valve 16 is driven only when there is no brake operation and the forward / backward lever operating state is in the forward or backward position.

In addition, when the above-mentioned automatic driving function selecting means 15 is misoperated by the driver without a brake operation, the controller 14 determines that the automatic driving function is selected and the pilot solenoid valve 16 described above. As it drives, the equipment will run. At this time, it is possible to prevent the running of the equipment automatically against the driver's intention by the above-described driving pedal operation state detecting means 18.

That is, the above-described controller 14 receives the detection signals from the above-described auto travel function selection means 15, the brake operation state detection means 17 and the travel pedal operation state detection means 18 to select the auto travel function. There is no brake operation, and the pilot solenoid valve 16 is driven only when the driving pedal 8 is operated.

And, the automatic driving control method of the hydraulic construction machine according to an embodiment of the present invention will be described with reference to FIG.

In step 1 (21), an OFF signal for cutting off the electrical signal applied to the pilot solenoid valve 16 side described above from the controller 14 described above is output, and then the flow advances to step 2 (22). That is, by initially turning off the electrical signal applied to the pilot solenoid valve 16 at the time of starting the equipment, the output condition of the controller 14 is set so that the automatic driving function is not operated.

In step 2 (22), the auto cruise flag, which is a variable for determining the above-described state of performing the autonomous driving function, is set to OFF, and then the procedure proceeds to step 3 (23). .

In step 3 (23), the above-described autonomous driving function selection signal from the autonomous driving function selection means 15 and the above-described brake operation detection signal from the brake operation presence detecting means 17 are inputted to the controller 14 described above. The process then proceeds to step 4 (24).

In step 4 (24), the driving pedal operation signal and the forward and backward lever operation state signal from the above-described traveling pedal operation detection means 18 and the forward and backward lever operation state detection means 19 are input to the controller 14 described above. The process then proceeds to step 5 (25).

In step 5 (25), it is determined whether the current automatic circuit is in an ON state (determining whether the current automatic traveling function is being performed). In other words, if the autonomous driving function is currently being performed, the process proceeds to step 12 (32). If the autonomous driving function is not currently performed, the process proceeds to step 6 (26).

In step 6 (26), when the auto travel function is not currently performed in step 5 (25) described above, the auto travel function selection signal input to the controller 14 described above in step 3 (23) described above is turned on. Determine if (ON). That is, when the automatic driving function selection signal is on, that is, when the driver wants to perform the automatic driving function by operating the aforementioned automatic driving function selection means 15, the process proceeds to step 7 (27), and the automatic driving function selection signal is off. If the driver does not operate the above-described automatic travel function selection means 15, the process proceeds to step 15 (35).

In step 7 (27), if the automatic traveling function selection signal is on in step 6 (26) described above, it is determined whether the brake operation signal in step 3 (23) described above is on. If the driver does not operate the brake pedal 12 described above (when the brake operation signal is off), the process proceeds to step 8 (28), and if the driver operates the brake pedal 12 described above (the brake operation signal is on). If so, the process proceeds to step 15 (35).

In step 8 (28), when the brake operation signal is off in step 7 (27) described above, it is determined whether the forward and backward lever operation state signal in step 4 (24) described above is in the neutral state (N). That is, if the aforementioned forward lever operation state signal is neutral, the process proceeds to step 15 (35), and when the aforementioned forward lever operation state signal is not neutral, the driver advances the aforementioned forward lever switch means 6 ( F) or, if it is set to the reverse (R) position, the process proceeds to step 9 (29).

In step 9 (29), if the forward and backward lever operation state signal described above in step 8 (28) is not neutral, it is determined whether the travel pedal operation signal in step 4 (24) described above is on. If the driver is operating the above-described driving pedal 8, the process proceeds to step 10 (30), and if the driver does not operate the above-mentioned driving pedal 8, the process proceeds to step 15 (35).

In step 10 (30), if the automatic driving function is not currently performed under the conditions of the steps 5 (25) to 9 (29) described above, and there is no operation of the driver's brake pedal 12, the aforementioned forward and backward levers This is the case when the switch means 6 is in the forward or backward state and the automatic travel function selecting means 15 is operated while the above-described traveling pedal 8 is being operated, and the aforementioned pilot solenoid valve 16 is operated. Outputs an on-signal to the processor side, and proceeds to step 11 (31). That is, even if the driver does not continuously operate the above-described driving pedal 8, the equipment will automatically run.

In step 11 (31), when it is in the auto travel state by the operation of the above-described step 10 (30), it is set to ON to perform the current auto travel function, and the flow advances to step 3 (23).

In step 13 (32), it is determined whether the auto travel function selection signal in step 3 (23) described above is off when the current auto travel function is performed in step 5 (25). That is, when the driver wants to cancel the automatic driving function by operating the automatic driving function selecting means 15, the process proceeds to step 15 (35) described above, and when the driver does not operate the automatic driving function selecting means 15, step 13 Proceed to (33).

In step 13 (33), it is determined whether the brake operation signal in step 3 (23) described above is on when the auto travel function selection signal is on in step 12 (32) described above. That is, when the driver operates the above-described brake pedal 12, the process proceeds to step 15 (35), and when the driver does not operate the above-described brake pedal 12, the process proceeds to step 14 (34).

In step 14 (34), when the brake operation signal is off in step 13 (33) described above, it is determined whether the forward and backward lever operation state signal in step 4 (24) described above is in a neutral state. That is, when the driver puts the aforementioned forward lever switch means 6 in the neutral state, the process proceeds to step 15 (35), and when the aforementioned forward lever operation state signal is not neutral, the process proceeds to step 3 (23). Therefore, the above-described brake function selection means 15 by the driver is not operated by the driver in the state in which the automatic driving function is currently being performed under the conditions of the above-described steps 5 (25) to 13 (33). There is no operation of (12), and the above-mentioned forward and backward lever switch means 6 corresponds to the case where it is continuously positioned in the forward or backward state. This is a state in which the ON signal to the pilot solenoid valve 16 side described above is continuously output by the above-mentioned step 10 (30). This indicates that the machine is currently in automatic driving.

In step 15 (35), the driver is operating the above-described brake pedal 12 in a state in which the autonomous driving function is not currently performed according to the above-described conditions from step 5 (25) to step 9 (29) or This applies to the case where the automatic traveling function selecting means 15 is operated while the forward and backward lever switch means 6 is set to the neutral position or the driving pedal 8 is not operated. In addition, the driver operates the auto travel function selecting means 15 or the above-described brake pedal 12 in a state where the auto travel function is currently being performed under the conditions of the steps 5 (25) to 14 (34) described above. Or the forward / backward lever switch 6 is set to the neutral position. This outputs the off signal to the solenoid valve 16 side described above so as to maintain the state in which the auto travel function is not performed or to release the auto travel function while the auto travel function is being performed, and step 16 (36). Proceed to

In step 16 (36), the current auto travel function is maintained when the auto travel function is maintained while the auto travel function is not performed or the auto travel function is canceled while the auto travel function is being performed by the above-described action of step 15 (35). If this is not performed, go to Step 3 (23).

As described above, according to the preferred embodiment, the driving state of the equipment can be automatically controlled even when the driving pedal is not directly operated by the driver in the hydraulic construction machine equipped with the traveling device as in the wheel type excavator. This has the advantage of providing convenience to the driver.

In addition, when the driving operation of the equipment due to inadvertent operation by the driver has an advantage to detect this by preventing the running of the equipment against the driver's intention to improve the safety of the equipment.

Claims (5)

An engine, a first hydraulic pump and a second hydraulic pump driven by the engine, a traveling motor connected to and driven by the first hydraulic pump, and installed between the first hydraulic pump and the traveling motor, It is installed between the main control valve and the second hydraulic pump and the main control valve to control the amount, flow direction of the operating oil supplied to control the start, stop and direction of the traveling motor, and is applied from the forward and backward lever selection switch means. A forward and backward solenoid valve switched according to an electrical signal to control the switching direction of the main control valve, and a remote control valve installed between the second hydraulic pump and the forward and backward solenoid valve to control the forward and backward solenoid valve pressure. In the automatic traveling control device of a hydraulic construction machine comprising; Means for selecting whether to perform the automatic driving function by the driver; It is installed to switch when a predetermined electrical signal is applied between the second hydraulic pump and the remote control valve, the pilot for controlling the selective supply of the signal pressure discharged from the second hydraulic pump to the remote control valve and the forward and backward solenoid valve Solenoid valves; Means installed in the second hydraulic pump and the discharge passage and formed in a brake valve for controlling a signal pressure supplied to a braking device, for detecting whether the brake pedal is operated; And a controller for applying a predetermined electrical signal to the pilot solenoid valve according to a detection signal inputted from a means for selecting whether to perform the automatic driving function and a means for detecting the operation of the brake pedal. Automatic travel control of hydraulic construction machines. The pilot solenoid of claim 1, wherein the pilot solenoid is formed on the remote control valve and inputs a signal for detecting whether a driving pedal is operated. In response to an electrical signal applied to the valve, the driving pedal operation detection means for preventing the running of the equipment automatically when the driver incorrectly operating the automatic driving function selection means without operating the brake pedal is configured to further comprise Automatic traveling control device for a hydraulic construction machine characterized in that. According to claim 1, wherein the forward and backward lever selection switch is input to a signal for detecting the operating state of the forward and backward lever selection switch to the controller, the automatic driving function is selected and the operating state of the forward and backward lever If the controller applies an electrical signal to the pilot solenoid valve in the forward or reverse state, the driver may automatically operate the automatic driving function selection means without operating the driving pedal of the remote control valve. The automatic driving control device for a hydraulic construction machine, characterized in that it further comprises a forward and backward lever operation state detection means for preventing the running of. 4. The automatic traveling control apparatus for a hydraulic construction machine according to claim 2 or 3, wherein the traveling pedal operation detecting means and the forward and backward lever operating state detecting means are selected or used alone or in combination. A traveling control method for a hydraulic construction machine; A first step of setting an output condition of a controller which cuts off an electrical signal applied to a pilot solenoid valve so that an automatic driving function does not operate when the equipment is initially started; A second step of determining whether to perform the automatic travel function according to the detection signals of the automatic travel function selection means, the brake operation detection means, the travel pedal operation state detection means, and the forward and backward lever operation state detection means; When the current automatic driving function according to the second step is being performed, the automatic driving function selecting means is not operated by the driver, the brake pedal is not operated, and the forward and backward lever switch is set to the forward or backward position. A third step of maintaining a current automatic driving function and repeatedly performing the second step; The current automatic driving function according to the second step is not being performed, the automatic driving function is selected by the driver, and the automatic driving when the forward and backward lever switch is set to the forward or backward position without operating the brake pedal. A fourth step of performing a function and repeatedly performing the second step; And a fifth step of continuously maintaining the state in which the automatic driving function is not performed by the third and fourth steps or releasing the automatic driving function while the automatic driving function is being performed, and repeatedly performing the second step. Automatic driving control method of a hydraulic construction machine comprising a.

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